2 citations · 5 across the 14 of their papers we have counts for
6 papers · 1 filter
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
Weiqiao Han, Ashkan Jasour, Brian Williams
We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and…
Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems
Weiqiao Han, Ashkan Jasour, Brian Williams
In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a…
Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments
Weiqiao Han, Ashkan Jasour, Brian Williams
We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has…
Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification
Ashkan Jasour, Weiqiao Han, Brian Williams
In this paper, we address the real-time risk-bounded safety verification problem of continuous-time state trajectories of autonomous systems in the presence of uncertain time-varyi…
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments
Ashkan Jasour, Weiqiao Han, Brian Williams
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geome…
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations
Weiqiao Han, Russ Tedrake
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initi…